Abstract: The purpose of this project is to investigate the development of small single and double rotor mini-UAVs with autonomous flight and decision making capability. The proposed application areas are surveillence and monitoring around and in building structures. The project will give valuable knowledge in the field of autonomous task planning for single and multiple UAV applications. We plan on using a ´of the shelf´ flight control board . The board employs Field Programmable Gate Array (FPGA) and Digital Signal Processor (DSP) technology to satisfy the requirements of advanced vehicle behavior in a small package. Non-GPS navigation will be necessary due to in-house flight and other disturbances around building structures. Visual navigation capability, sense-avoid capabilities, base functionality required for SAT and CSP problems will be investigated in this project. (Referat på svenska saknas).Abstract: The purpose of this project is to investigate the development of small single and double rotor mini-UAVs with autonomous flight and decision making capability. The proposed application areas are surveillence and monitoring around and in building structures. The project will give valuable knowledge in the field of autonomous task planning for single and multiple UAV applications. We plan on using a ´of the shelf´ flight control board . The board employs Field Programmable Gate Array (FPGA) and Digital Signal Processor (DSP) technology to satisfy the requirements of advanced vehicle behavior in a small package. Non-GPS navigation will be necessary due to in-house flight and other disturbances around building structures. Visual navigation capability, sense-avoid capabilities, base functionality required for SAT and CSP problems will be investigated in this project.